CN101269441A - Flexible process system of laser - Google Patents
Flexible process system of laser Download PDFInfo
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- CN101269441A CN101269441A CN 200710064749 CN200710064749A CN101269441A CN 101269441 A CN101269441 A CN 101269441A CN 200710064749 CN200710064749 CN 200710064749 CN 200710064749 A CN200710064749 A CN 200710064749A CN 101269441 A CN101269441 A CN 101269441A
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Abstract
The invention discloses a laser flexible manufacturing system, which comprises a laser device, a laser processing head connected with a laser forming light path, a robot body with an electric motor used for bearing the laser processing head, an instrument head, a control gear used for controlling the laser device and the robot body, a guide rail and a carrying trolley. The carrying trolley is arranged at the lower side of the robot body; the control gear comprises a laser control unit and a robot motion control unit; the laser control unit and the robot motion control unit are connected with a coordinated control unit; the laser control unit is connected with the laser device; the robot motion control unit is connected with the electric motor. The laser flexible manufacturing system solves the problems of loading processing pieces, collision and interference between the instrument head and the laser processing head of the prior art and the peripheral environment when transposition, and the openness of the control system is strong.
Description
Technical field
The present invention relates to laser processing technology, the dynamo-electric incorporate Laser Processing of numerical control of multifunctional light and the process system that particularly relate to intelligent measure, wherein adopted flexible light-transmitting fibre to transmit laser and the conversion of light beam process, this system has multi-shaft interlocked mechanical part, guide rail and delivery dolly.
Background technology
Present laser-processing system can be divided into three major types: the one, and mechanical arm-type laser processing robot, the 2nd, Laser Processing center, the 3rd, Laser Processing special equipment.In the U.S. Pat 4870246 of denomination of invention for " be used for cut and weld laser processing robot ", introduced a kind of like this technology, wherein adopted tower structure, making machining robot move and be rotated in vertical plane along horizontal and vertical lines moves, and with the hollow process arm is that the center carries out two to three-dimensional polar coordinates motion, finishes processing action thus.In the U.S. Pat 5221823 of denomination of invention, introduced a kind of articulated arm robot for " be used for weld and cut laser engine equipment ".The common feature of above-mentioned two kinds of systems is, Laser Transmission adopts the optics mirror transmission system of turning back, and the cavity structure by hollow passes to machined surface with high power laser from laser instrument.Fig. 1 has provided the transmitting device that U.S. Pat 5221823 is adopted.As can be seen, the method of this transmission laser is in order to guarantee the correct of laser transfer light path, the motion mode of transmitting device is very restricted, and not only the motion control of robot is comparatively complicated in the processing, and the transformation difficulty of utilizing the existing machinery device to carry out the Laser Processing equipment is increased.The 3rd defective of the equipment of above-mentioned two kinds of patented technologies be, all is by the optics mirror transmission system of turning back laser directly to be passed to machined surface by laser instrument, and the laser that uses in the processing do not further processed.Though this is the mode that present laser process equipment mainly adopts, but because in actual industrial production, at different processing, the spatial distribution of laser requires also to have different with intensity distributions, therefore, the equipment of this direct use laser instrument processing can only occur with the form of special equipment mostly, applicable surface is narrower, does not satisfy actual needs far away.In addition, present laser process equipment is simple process equipment basically, self does not possess measurement capability, therefore the accuracy of processing depends on processing work appearance and size to a great extent, if workpiece does not have workpiece configuration design data for a certain reason, then must be by means of the measurement device of outside, this has produced the problem that occurs error between measurement data and the process data again.
As with the immediate prior art of the present invention, Chinese invention patent 98101217.5 relates to a kind of have flexible transmission and multi-shaft interlocked laser processing device, in the practical application of this patent of invention, run into some following problems: how the loading problem of workpiece, particularly realize the automatic loading and the unloading of workpiece on production line; Positioning disc device in this patent of invention is used to realize the transposition of gage outfit and laser Machining head, but this device easily produces interference and collision with surrounding enviroment in actual applications, and processing is caused adverse effect; The control system opening of this technology is relatively poor, can not control the flexible operating that various process requirements are finished in Laser Processing easily, how to realize that particularly laser instrument and robot motion's system coordination control is still waiting to improve.
In sum, because the deficiency of existing laser processing technology, present laser process equipment can only be used for a certain specific field mostly, has limited laser process equipment in industrial extensive use, therefore just needs a kind of improved flexible process system of laser.
Summary of the invention
Load problem and the incomplete problem of control system in order to solve the workpiece that exists in the Chinese invention patent 98101217.5, the present invention proposes a kind of flexible process system of laser, comprising: laser instrument; Form the laser Machining head that light path is connected with laser instrument; Be used to carry the robot body that has motor of laser Machining head; Gage outfit; Be used to control the control device of laser instrument and robot body; It is characterized in that, this system also comprises guide rail and delivery dolly, it is arranged on the below of robot body, described control device comprises laser instrument control module and robot motion's control module, the laser instrument control module is connected with the coordination control module with robot motion's control module, described laser instrument control module is connected with laser instrument, and robot motion's control module is connected with described motor.
In addition, the gage outfit that exists easily produces when utilizing the transposition of positioning disc device with laser Machining head and the problem of surrounding enviroment interference and collision in order to solve in the Chinese invention patent 98101217.5, the present invention also proposes a kind of flexible process system of laser, comprising: laser instrument; Form the laser Machining head that light path is connected with described laser instrument; Be used to carry the robot body that has motor of described laser Machining head; Gage outfit; Be used to control the control device of described laser instrument and described robot body; It is characterized in that, the vertical mechanical arm that can the along continuous straight runs move left and right also can move up and down is installed on the described robot body by driven by motor; Be useful in the lower end of described vertical mechanical arm and select the anchor clamps that described gage outfit and described laser Machining head are fixed in a ground, described control device comprises laser instrument control module and robot motion's control module, the laser instrument control module is connected with the coordination control module with robot motion's control module, described laser instrument control module is connected with described laser instrument, and described robot motion's control module is connected with described motor.
In technique scheme, described coordination control module comprises transmitting-receiving robot signal element, transmitting-receiving laser signal unit and signal coordinating processing unit.
In technique scheme, described coordination control module also comprises and is used for the operator and this system of processing is carried out mutual man-machine interaction unit.
In technique scheme, this system also comprises optical fiber and optical converter, robot body comprises robot frame, this robot frame is so to constitute, vertically on the crossbeam slide rail is being housed, on slide rail, be provided with the horizontal gird that can move forward and backward by driven by motor, on horizontal gird, be provided with slide rail, the vertical mechanical arm that can the along continuous straight runs move left and right also can move up and down perpendicular to horizontal gird has been installed on the slide rail of horizontal gird by driven by motor, described optical converter, laser Machining head all is installed on the lower end of vertical mechanical arm by fixture with gage outfit, perhaps connect different types of mechanical arm in the lower end of vertical mechanical arm, install optical converter in the lower end of this mechanical arm with fixture again, laser Machining head and gage outfit, rely on optical fiber to link to each other between the output of laser instrument and the optical converter, optical converter links to each other with laser Machining head.
In technique scheme, described fixture is anchor clamps.
In technique scheme, this system also comprises second anchor clamps of the side that is arranged on described vertical mechanical arm, in order to the laser Machining head that is installed when measuring temporarily.
In technique scheme, described control device adopts the line style network topology structure of single main website, and control device is made as the main website of Process FieldbusROFIBUS, and laser instrument has Process FieldbusROFIBUS communication protocol, and described laser instrument is made as slave station.
In technique scheme, be connected different types of mechanical arm on the vertical mechanical arm lower end and be rotary joint or swinging joint around the 360 ° of rotations in the axis of vertical mechanical arm, wherein the laser that is sent by laser instrument is transferred to optical converter by flexible light-transmitting fibre, make laser change the distribution of its spatial-intensity by paying upright leaf optical transform here, focus on output by laser Machining head, use the motion mode of diaxon to five spool, the data of utilizing external data and using gage outfit to survey are processed workpiece by control device control laser Machining head.
In technique scheme, this system of processing also comprises and is arranged on structure on the laser Machining head, that feed assist gas.
In technique scheme, on laser Machining head, be provided with the scaling powder structure for conveying.
In technique scheme, control device comprises open-type motion.
Compared with prior art, the invention has the beneficial effects as follows, flexible process system of laser of the present invention has solved the loading problem of workpiece, particularly on production line, realize the automatic loading and the unloading of workpiece, and the positioning disc device that has solved prior art easily produces and the problem of the interference and collision of surrounding enviroment when being used to realize the transposition of gage outfit and laser Machining head.In addition, control system of the present invention is open strong, and flexible operating, particularly laser instrument and robot motion's system coordination control of various process requirements is finished in convenient control Laser Processing.
Description of drawings
Fig. 1: laser transmission apparatus schematic diagram in the prior art.
Fig. 2: according to work block diagram of the present invention, that have flexible transmission and multi-shaft interlocked laser-processing system.
Fig. 3: structural representation provided by the present invention, as to have the laser-processing system of flexible transmission and five-axle linkage.
Fig. 4 .1: laser Machining head athletic posture schematic diagram of the present invention.
Fig. 4 .2: the laser Machining head two dimension of the present invention schematic diagram that rotatablely moves.
Fig. 5: a kind of intelligent measuring head schematic diagram of the present invention.
Fig. 6: the present invention is used for the optical beam transformation schematic diagram that surface peening adds man-hour.
Fig. 7: the workflow diagram of the control device control in the embodiment of the invention 1.
Fig. 8: the guide rail in the embodiment of the invention and the schematic diagram of dolly;
Fig. 9: processing head in the embodiment of the invention and anchor clamps schematic diagram, left side (a) figure expression is when adding man-hour among Fig. 9, and laser Machining head is installed on the work clothes card device; Right side (b) figure expression is when measuring, laser Machining head is taken out by the work clothes card device and be installed on anchor clamps, the work clothes card device of laser Machining head then is used to the gage outfit that is installed, measure, gage outfit belongs to laser Machining head that coordination is coaxial to be installed, measurement data can be directly used in processing, plays the effect of location;
Figure 10: the structural representation of the control device in the embodiment of the invention;
Figure 11: the structural representation of the cooperative control device in the embodiment of the invention.
Description of reference numerals is as follows:
1.1 laser cooling device; 1.2 laser instrument; 2 optical fibers; 3 optical converters; 5 robot bodies; 5.1 swinging joint; 5.3 horizontal gird; 5.4 rotary joint; 5.5 vertical mechanical arm; 5.6 vertical crossbeam; 6 laser Machining heads; 7 control device; 8 processing works; The two dimensional spot that 9 laser form on machined surface distributes; 10 car bodies; 10.1 guide rail; 10.2 remote controller; 10.3 workpiece; The track that 11 gage outfits are passed by; 12 new sectional fixtures; J1 represents that X is to horizontal movement; J2 represents that Y is to horizontal movement; J3 represents that Z is to moving both vertically; J4 represents the rotation of laser Machining head around the processing axis; J5 represents the swing of laser Machining head.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the present invention is described in further detail.
According to the present invention,, in system of processing, be provided with the delivery dolly for solving the loading and unloading problem of workpiece.As shown in Figure 8, the delivery dolly mainly is made of car body and guide rail and several parts of remote controller.Can control it along guide rail movement by remote controller.As Fig. 3 and shown in Figure 8, when needs load workpiece, can make dolly along guide rail movement to robot body, load workpiece after, dolly is got back in the robot frame scope, and is selected then suitable position to park.After workpiece machined, dolly carried workpiece and rolls the robot frame scope away from and unload workpiece.
The present invention is in order to solve the problem that positioning disc device work in-process in the existing system easily produces interference and collision, and the present invention improves processing head device, has cancelled positioning disc.As shown in Figure 9, added laser head chucking device (anchor clamps) in the vertical mechanical arm lower end side of robot.When measuring, laser head is taken out by position, original-pack card division and be installed in above-mentioned anchor clamps, the chucking device of the former laser head gage outfit that then is used to be installed is measured, like this, gage outfit belongs to laser head that coordination is coaxial to be installed, measurement data can be directly used in processing, has played the effect of former setting circle dish, has avoided positioning disc to be prone to the problem of interference and collision again in process.
As shown in Figure 3, laser-processing system with flexible transmission and twin shaft interlock is provided, wherein the framework of robot body comprises: on long 4 meters, wide 3 meters, the high 2.0 meters vertical crossbeam 5.6 of steel slide rail is housed, and settle horizontal gird 5.3 thereon, horizontal gird 5.3 vertically moving forward and backward on the crossbeam 5.6, has slide rail by driven by motor on horizontal gird 5.3.
Vertical mechanical arm 5.5 is installed on above-mentioned slide rail, on the end of vertical mechanical arm, be fixed with laser Machining head 6, gage outfit 4.1 and optical converter 3 by anchor clamps, at this near-infrared wavelength laser instrument that adopts 100 watts to 500 watts of power, laser instrument is connected with optical converter 3 with a solid optical fiber of medium.
As shown in figure 10, control device 7 comprises laser instrument control module 4.2 and robot motion's control module 4.3, and laser instrument control module 4.2 is connected with coordination control module 4.4 with robot motion's control module 4.3.The laser instrument control module 4.2 of control device 7 is connected with laser instrument 1.2, and described robot motion's control module 4.3 joins with the motor of robot body.As shown in figure 11, coordinate control module 4.4 and comprise transmitting-receiving robot signal element, transmitting-receiving laser signal unit, signal coordinating processing unit, also comprise being used for the operator and this system of processing is carried out mutual man-machine interaction unit.Motion control and status information (position, speed etc.) feedback that robot motion's control module 4.3 is finished robot realize laser power waveform control to laser instrument.Control device 7 sends the order except giving motor and laser instrument separately, the more important thing is both are coordinated mutually, coordinate control module 4.4 receives motor on the robot body in real time by thread feedback information, and information made explanations, judging whether needs to coordinate laser instrument (as starting, stop, changing power waveform etc.) and sends control commands corresponding according to judgement.Robot movement control device 4.3 comprises an open-type motion 4.5, this motion controller 4.5 is connected to a general purpose I/O (being I/O) interface 4.6 by a photoisolator, motion controller 4.5 is connected to a servo amplifier, and the i.e. servomotor shown in the figure of the motor that is connected to robot body by servo amplifier.Laser instrument 1.2 has Process FieldbusROFIBUS communication protocol, and control device 7 adopts the line style network topology structure of single main website, and control device 7 is made as the main website of Process FieldbusROFIBUS, and laser instrument 1.2 is made as slave station.The coordination control module 4.4 of control device and motion controller 4.5 are connected by pci bus, and laser instrument control module 4.2 is connected by the PFOFIBUS fieldbus with laser instrument 1.2.Adopt 1000W YAG pulse laser in the present embodiment, power 1000 watts with interior adjustable, and can under pulse or continuous two kinds of patterns, work.The PROFIBUS adapter is selected the CP5611 address card of Siemens Company for use, and open-type motion is selected the DMC digital motion controller of U.S. GALIL company for use.The workflow diagram of control device 7 as shown in Figure 7, process is such as being to carry out laser cutting on the zinc-plated aluminium sheet of 1.5 millimeters of thickness, the parameter of laser instrument 1: power is 500 watts, continuous mode.Before the processing beginning, on control device 7, adopt the off-line programing mode to write robot motion's control program, the robot speed is set to 40 mm/second.And then laser parameter is set and calls above-mentioned off-line procedure and process.Robot stops to occur quickening and moderating process from starting to, for guaranteeing the uniformity of crudy, should guarantee as far as possible that processing sections is at the uniform velocity process, startup arrives the at the uniform velocity stage in robot, and laser instrument is in wait state, after robot provides the speed arriving signal, control device sends order starts laser instrument, after machining, robot provides the signal that puts in place, and control device 7 sends order all stops laser instrument and robot.
Laser-processing system with flexible transmission and three-shaft linkage is provided.Adopted vertical mechanical arm moving up and down as different from Example 1.
Provide one to have flexible transmission and four-axle linked laser-processing system.Identical with embodiment 2, it also fixes a cradle head 5.4 that can drive another mechanical arm around the rotation of vertical mechanical arm 5.5 axis in vertical mechanical arm 5.5 lower ends with fixture, and uses fixture fixed laser processing head 6, optical converter 3, gage outfit 4 on cradle head 5.4.
Laser-processing system with flexible transmission and five-axle linkage is provided.Identical with embodiment 3, it also installs the mechanical arm 5.1 that can do oscillating motion on cradle head 5.4.System as shown in Figure 3, the framework 5 of steel robot body is long 4.5 meters, wide 3.1 meters and high 2.0 meters, vertically on the crossbeam 5.6 slide rail is being housed, horizontal gird 5.3 can be moved forward and backward by driven by motor thereon.Slide rail also is housed on the horizontal gird 5.3, but can be for the vertical mechanical arm 5.5 along continuous straight runs move left and right that are mounted thereon, and the motor on the while mechanical arm 5.5 drives it again and can move up and down.Be equipped with the lower end of vertical mechanical arm 5.5 can be around the cradle head 5.4 of the 360 ° of rotations in vertical mechanical arm axis, it is connecting the joint 5.1 that can do to swing again, Fig. 4 .2 has represented the motion mode of this structure, and Fig. 4 .1 represents to remain the movement posture of laser Machining head 6 when the machined surface normal moves.Gage outfit 4.1 all is loaded on this joint by anchor clamps with laser Machining head, and the fixing of laser Machining head 6 and gage outfit 4.1 can use anchor clamps, is about to laser Machining head 6 and gage outfit 4.1 and directly is installed on the mechanical arm 5.5 by anchor clamps; Control device 7 is connecting laser instrument 1, multi-shaft interlocked mechanical part 5 and measurement mechanism 4, and it is responsible for controlling parameter, the workpiece appearance and size data that online processing measurement mechanism is obtained of output laser and controls multi-shaft interlocked mechanical part processing action.Laser flexible hop 2 adopts low-loss, high-power industrial optical fiber 2, it is connected between laser instrument 1.2 and the optical converter 3, when finishing the transmission of laser power or energy, not being subjected to the restriction of mechanical movement. optical converter can be paid upright leaf optical transform by the requirement of processing to the laser that laser instrument produces and handle.By conversion, can on processing plane, produce the light distribution that meets the demands to incident beam.For different industrial processes demands, only need use corresponding optical beam transformation and focusing block instead, can be met the laser beam of requirement.The intelligent measuring head obtains the data of workpiece appearance curved surface by control device control survey head online along move (it can carry out data acquisition and motion intelligently) of surface of the work, as shown in Figure 5.Because same set of mechanical movement means is used in measure portion and processing part, both simplifies the structure like this, is convenient to the coordination of measurement data and process data again.Multi-shaft interlocked mechanical part by control device control, can produce the required action of Laser Processing.The mode of another mechanical linkage frame mode and two kinds of fixed laser processing heads, gage outfit has been described in the present embodiment, and the control device control section is identical with embodiment 1.
Laser-processing system with flexible transmission and five-axle linkage is provided, and it is used for laser boring, cutting on song (putting down) face.Utilize on the multi-functional five-axle linkage laser-processing system that embodiment 4 addresses, just at the equipped device that can feed assist gas in punching and cutting on the laser Machining head 6, for example the sidewall of laser Machining head connects a pipe to gas cylinder.To prevent the oxidation of finished surface.Can be to plane or the high-precision punching of complex-curved execution and the cutting processing of large-size workpiece.This punching and the cutting of finishing by means of auxiliary air blowing structure and suitable optical beam transformation and focusing system need not subsequent treatment, good reproducibility, precision height; The processing heat affected area is little, does not produce distortion; Controllability is good, and process can once be finished.Add man-hour carrying out the plane, keep the fixing of laser Machining head attitude, utilize robot body to drive laser Machining head and produce plane motion, can finish the requirement that multiple spot punching and complex boundary shape workpiece are cut on the large tracts of land sheet material.When carrying out Machining of Curved Surface, utilize two-dimentional rotating mechanism can realize the normal attitude of laser Machining head in the arbitrfary point, space, satisfy punching and process laser vertical in the requirement of machined surface, shown in Fig. 4 .1 and Fig. 4 .2 with the welding needs.The plate shell cutting that can satisfy in blade of aviation engine punching and the body of a motor car advanced manufacturing technology has the processing request of complex-curved Shape Parts with this class of cutting, and has higher precision.
Laser-processing system with flexible transmission and five-axle linkage is provided, and it is used for the laser weld on song (putting down) face.Use embodiment 4 described multi-functional five-axle linkage laser-processing systems, just on laser Machining head 6, be equipped with the scaling powder structure for conveying, can finish the welding processing of the curve surface work pieces of large-area plane or complex surface shape.According to shape, material and the technological requirement of weld seam, light beam to be carried out conversion, and send into laser-processing system by programming and once finish processing, controllability is good, and weldquality is more guaranteed.In welding process, because soldered material difference, light spot shape is also different after the desired focusing, and the scaling powder of use is also different, adds that some welding track is a space curve, therefore needs one five dimension action digital control system.
Embodiment 7
Laser-processing system with flexible transmission and five-axle linkage is provided, and it is used for surface of the work handles, and comprises phase transformation strengthening, consolidation, coating, alloying etc., the particularly surface treatment of mould.Utilize the system of embodiment 4, can carry out surface treatment some cladding member mold and mould of plastics.By paying the specific light distribution that upright leaf optical transform technology produces, can carry out the spatial-intensity conversion to laser, on a pulse focal plane, produce the hot spot array of two dimension, greatly improved processing speed (reaching 2～3 orders of magnitude), as shown in Figure 6.Utilize multi-shaft interlocked laser-processing system, can finish intensive treatment, to improve the quality and the service life of mould die surface with complex-curved profile.Owing to need the mould of surface peening, production unit might not offer the user with the product design data, or design data different with Laser Processing desired data form and be difficult to the conversion, or appearance is worn and torn and is needed the mould of reinforcement once more aborning, therefore add man-hour must be in conjunction with measure portion, the accurate three-dimensional size of processing mold to obtain.By using the intelligent measure head, adopt mode as shown in Figure 5 that die surface is scanned, can go back the profile of original mould online.Because same set of motion is used in gage outfit and processing part, reduced cost on the one hand, also can guarantee coincideing of gage outfit and laser Machining head position on the other hand, make measurement data form process data immediately and finish processing, shorten the production cycle greatly.
Laser-processing system with flexible transmission and five-axle linkage is provided, is used for laser cutting, the welding of song (putting down) face.Utilize the assist gas conveying device among embodiment 4 described multi-functional five-axle linkage laser-processing systems and the embodiment 5, add cart system (car body 10, guide rail 10.1, remote controller 10.2), and add new sectional fixture 12 in vertical mechanical arm lower end side.As Fig. 3 and shown in Figure 8, add man-hour, dolly rolls the robot frame scope away from by the remote controller remote control, sails the robot frame scope again into and is parked in correct position behind the loading workpiece 10.3.This moment, car body played the effect of workbench.As shown in Figure 9, laser Machining head 6 is taken out by original-pack card position, and it is installed in new sectional fixture 12.Gage outfit 4.1 is installed on former laser Machining head is installed the position, thereby guarantees coincideing of gage outfit and laser Machining head position, make measurement data form process data immediately and finish processing.After measurement is finished, gage outfit 4.1 is taken out, laser Machining head 6 by taking out in the new sectional fixture, is installed in original position again.And then utilize measurement data to generate process data and process.After the completion of processing, dolly carries workpiece 10.3 and rolls the robot frame scope away from and unload, thereby finishes time processing.
In the present invention, because processing laser is by the flexible transmission of optical fiber, be not subjected to the influence of mechanical movement, concrete mechanical device both can adopt the three-axis moving mode as mentioned above, also can adopt the motion mode of diaxon to five spool as required, both can develop specially, and also can utilize the existing equipment transformation to form.Control by control device, remain the movement posture of laser Machining head when the machined surface normal moves, differ from benefit, multi-shaft interlocked to realize, can in three dimensions, carry out on a large scale, high accuracy and Laser Processing fast flexibly, be included in punching on the curved surface, cutting and welding, the manufacturing of surface Hardening Treatment and quick original shape and mould etc.
It should be noted last that above embodiment is only in order to illustrating technical scheme of the present invention, rather than will limit the present invention.Although the present invention is had been described in detail with reference to embodiment, those of ordinary skill in the art is to be understood that, technical scheme of the present invention is made amendment or is equal to replacement, the spirit and scope that do not break away from technical solution of the present invention, it all should covered in the middle of the claim scope of the present invention.
Claims (10)
1. a flexible process system of laser comprises: laser instrument; Form the laser Machining head that light path is connected with described laser instrument; Be used to carry the robot body that has motor of described laser Machining head; Gage outfit; Be used to control the control device of described laser instrument and described robot body; It is characterized in that, described flexible process system of laser also comprises and is arranged on the described robot body guide rail below, that be used for workpiece and delivery dolly, and described control device comprises laser instrument control module and robot motion's control module, described laser instrument control module is connected with the coordination control module with described robot motion's control module, described laser instrument control module is connected with described laser instrument, and described robot motion's control module and described motor join.
2. according to the described flexible process system of laser of claim 1, it is characterized in that described robot body has by described driven by motor the vertical mechanical arm that can the along continuous straight runs move left and right also can move up and down; Be useful in the lower end of described vertical mechanical arm and select the fixture that described gage outfit and described laser Machining head are fixed in a ground.
3. according to the described flexible process system of laser of claim 2, it is characterized in that described fixture is anchor clamps.
4. according to the described flexible process system of laser of claim 3, it is characterized in that, also comprise second anchor clamps of the side that is arranged on described vertical mechanical arm.
5. a flexible process system of laser comprises: laser instrument; Form the laser Machining head that light path is connected with described laser instrument; Be used to carry the robot body that has motor of described laser Machining head; Gage outfit; Be used to control the control device of described laser instrument and described robot body; It is characterized in that, the vertical mechanical arm that can the along continuous straight runs move left and right also can move up and down is installed on the described robot body by driven by motor; Be useful in the lower end of described vertical mechanical arm and select the anchor clamps that described gage outfit or described laser Machining head are fixed in a ground, and described control device comprises laser instrument control module and robot motion's control module, described laser instrument control module is connected with the coordination control module with described robot motion's control module, described laser instrument control module is connected with described laser instrument, and described robot motion's control module is connected with described motor.
6. according to claim 1 or 5 described flexible process system of laser, it is characterized in that described coordination control module comprises transmitting-receiving robot signal element, transmitting-receiving laser signal unit and signal coordinating processing unit.
7. according to claim 1 or 5 described flexible process system of laser, it is characterized in that described coordination control module also comprises and is used for the operator and described flexible process system of laser carries out mutual man-machine interaction unit.
8. according to claim 1 or 5 described flexible process system of laser, it is characterized in that, described control device adopts the line style network topology structure of single main website, described control device is made as the main website of Process FieldbusROFIBUS, described laser instrument has Process FieldbusROFIBUS communication protocol, and described laser instrument is set as slave station.
9. according to claim 1 or 5 described flexible process system of laser, it is characterized in that described flexible process system of laser also is included in and the structure that feeds assist gas is set on the described laser Machining head and/or the scaling powder structure for conveying is set on described laser Machining head.
10. according to claim 1 or 5 described flexible process system of laser, it is characterized in that described robot motion's control module comprises open-type motion.
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| CN102451953A (en) * | 2010-10-20 | 2012-05-16 | 中国科学院力学研究所 | Multi-functional laser processing manufacturing system |
| CN104812520A (en) * | 2012-09-14 | 2015-07-29 | 通快激光标记系统公司 | Laser processing device |
| CN104816090A (en) * | 2015-05-27 | 2015-08-05 | 深圳市奥斯玛数控发展有限公司 | Laser machine tool |
| CN106191384A (en) * | 2016-07-13 | 2016-12-07 | 广东工业大学 | Metal blank laser shot forming dynamic self-adapting equipment based on guide rail motion and method |
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| CN107350636A (en) * | 2017-08-08 | 2017-11-17 | 江苏大金激光科技有限公司 | A kind of numerical control laser cutter control system |
| CN111215759A (en) * | 2018-11-23 | 2020-06-02 | 沈阳新松机器人自动化股份有限公司 | Mixed reflection type three-dimensional linkage laser cutting head |
| CN113399820A (en) * | 2021-07-08 | 2021-09-17 | 中国科学院力学研究所 | Laser tailor-welding method and device for large-breadth plates |
| CN113547217A (en) * | 2021-08-16 | 2021-10-26 | 深圳市浩毅丰科技有限公司 | Device for laser transmission welding of circumferential weld |
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2007
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| CN104812520A (en) * | 2012-09-14 | 2015-07-29 | 通快激光标记系统公司 | Laser processing device |
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| CN106624375A (en) * | 2016-11-16 | 2017-05-10 | 亚太绿建（北京）科技集团有限公司 | Intelligent omnibearing laser cutting working station |
| CN106624375B (en) * | 2016-11-16 | 2018-09-14 | 亚太绿建（北京）科技集团有限公司 | A kind of intelligent omnibearing laser cutting work station |
| CN107350636A (en) * | 2017-08-08 | 2017-11-17 | 江苏大金激光科技有限公司 | A kind of numerical control laser cutter control system |
| CN111215759A (en) * | 2018-11-23 | 2020-06-02 | 沈阳新松机器人自动化股份有限公司 | Mixed reflection type three-dimensional linkage laser cutting head |
| CN111215759B (en) * | 2018-11-23 | 2022-02-11 | 沈阳新松机器人自动化股份有限公司 | Mixed reflection type three-dimensional linkage laser cutting head |
| CN113399820A (en) * | 2021-07-08 | 2021-09-17 | 中国科学院力学研究所 | Laser tailor-welding method and device for large-breadth plates |
| CN113547217A (en) * | 2021-08-16 | 2021-10-26 | 深圳市浩毅丰科技有限公司 | Device for laser transmission welding of circumferential weld |
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